Distributed formation control of fractional-order multi-agent systems with absolute damping and communication delay

Abstract

The distributed formation control of fractional-order multi-agent systems is mainly studied under directed interaction topology in this paper. First, the control algorithm with absolute damping and communication delay is proposed to achieve the formation control. Then, some sufficient conditions are derived by using the matrix theory, graph theory and the frequency-domain analysis method. Finally, based on the numerical method of predictor–corrector, several simulations are presented to illustrate the effectiveness of the obtained results.

Keywords:

• formation control
• fractional-order
• multi-agent systems
• communication delay
• absolute damping

Acknowledgments

The authors would like to thank the editor and the anonymous reviewers for their valuable comments and suggestions that have improved the presentation of this paper.

Additional information

Funding

This work was supported by the National Natural Science Foundation of China under [grant number 61403019], [grant number 11371049].

Notes on contributors

Jing Bai

Jing Bai received the BS degree in Department of Mathematical Science, Beijing jiaotong University, China in 2010, and the MS degree in Department of Mathematical Science, Beijing jiaotong University, China in 2012. She is currently working toward the PhD degree in LAGIS, UMR 8219 CNRS, Ecole Centrale de Lille, France. Her research interest focuses on formation control of multi-agent systems, consensus of multi-agent, Chaos control and synchronisation.

Guoguang Wen

Guoguang Wen received the BS degree in Department of Mathematical Science, Inner Mongolia University, China in 2007, the MS degree in Department of Mathematics, School of Science, Beijing Jiaotong University, China in 2009, and the PhD degree in LAGIS, UMR 8219 CNRS, Ecole Centrale de Lille, France, in 2012. His research interest focuses on cooperative control for multi-agent systems, control of multi-robots formation, nonlinear dynamics and control,and neural networks.

Ahmed Rahmani

Ahmed Rahmani received his PhD degree in Automatic Control Engineering and Computer Science from Lille University of Technology and Ecole Centrale de Lille, France in 1993. He is an associate professor at Ecole Centrale de Lille since 1995. His current research interests are in graphic methods and tools for analysis and control of complex systems: application to mobile robotics and intelligent transport.

Yongguang Yu

Yongguang Yu received his MS degree in Department of Mathematical Science, Inner Mongolia University, China in 2001, and the PhD degree in Institute of Applied Mathematics, Academy of Mathematics and System Sciences, Chinese Academy of Sciences, China in 2004. From 2007 to 2009, he was a research fellow in City University of Hong Kong, China. Since 2010, he has been a professor with the Department of Mathematics, School of Science, and Beijing Jiaotong University, China. His research interests include chaotic dynamics, Chaos control and synchronisation, complex networks, nonlinear control and multi-agent systems.